EP2792903B1 - Automatischer Spender für Gewichtsausgleich - Google Patents

Automatischer Spender für Gewichtsausgleich Download PDF

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Publication number
EP2792903B1
EP2792903B1 EP13164570.7A EP13164570A EP2792903B1 EP 2792903 B1 EP2792903 B1 EP 2792903B1 EP 13164570 A EP13164570 A EP 13164570A EP 2792903 B1 EP2792903 B1 EP 2792903B1
Authority
EP
European Patent Office
Prior art keywords
slider
cartridge
balancing
compartment
balancing weights
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP13164570.7A
Other languages
English (en)
French (fr)
Other versions
EP2792903A1 (de
Inventor
Hans-Ulrich Bürgel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wegmann Automotive GmbH and Co KG
Original Assignee
Wegmann Automotive GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to ES13164570.7T priority Critical patent/ES2557777T3/es
Application filed by Wegmann Automotive GmbH and Co KG filed Critical Wegmann Automotive GmbH and Co KG
Priority to EP13164570.7A priority patent/EP2792903B1/de
Priority to MX2015014675A priority patent/MX2015014675A/es
Priority to KR1020157032848A priority patent/KR101612110B1/ko
Priority to BR112015026412A priority patent/BR112015026412A2/pt
Priority to CN201480021491.6A priority patent/CN105143710B/zh
Priority to PCT/EP2014/056988 priority patent/WO2014170162A1/en
Publication of EP2792903A1 publication Critical patent/EP2792903A1/de
Application granted granted Critical
Publication of EP2792903B1 publication Critical patent/EP2792903B1/de
Priority to US14/885,281 priority patent/US9618080B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/32—Correcting- or balancing-weights or equivalent means for balancing rotating bodies, e.g. vehicle wheels
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/32—Correcting- or balancing-weights or equivalent means for balancing rotating bodies, e.g. vehicle wheels
    • F16F15/324—Correcting- or balancing-weights or equivalent means for balancing rotating bodies, e.g. vehicle wheels the rotating body being a vehicle wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D83/00—Containers or packages with special means for dispensing contents
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M1/00—Testing static or dynamic balance of machines or structures
    • G01M1/02—Details of balancing machines or devices

Definitions

  • the invention relates to methods and devices for dispensing weights used in vehicle ballasting applications, in particular for dispensing weights used in balancing automobile or other vehicle wheels.
  • balancing weights are applied to specific positions of a rim.
  • two types of balancing weight are used.
  • the first kind is a balancing weight which is attached by a clamp, as disclosed in the European patent EP 1 613 876 B1
  • the second kind is fixed by means of a self-adhesive tape, as disclosed in US patent 6,364,421 B1 .
  • Both kinds of balancing weights are available in a plurality of sizes, resulting in different weights.
  • Balancing weights may be attached to a wheel by a fitting apparatus as disclosed in the US patent 4,903,398 .
  • a weight fitting device picks up a balancing weight from a picking position and fits the balancing weight to the wheel.
  • a balancing feeding device delivers balancing weights by means of vibrating buckets into racks holding the balancing weights in their picking position. This feeding device requires a significant amount of space.
  • the international patent application PCT/EP 2013/055592 discloses balancing weights for vehicle wheels, which are held together by a connecting cord.
  • the problem to be solved by the invention is to provide an apparatus and a method for automatic dispensing of vehicle balancing weights with reduced space requirement, increased feeding speed and precise location of the delivered balancing weights at a picking position. Furthermore, it is desired to have a high flexibility in delivering different types of balancing weights and easy adaptation to new kinds of balancing weights.
  • a dispenser has at least one dispenser module, preferably a plurality of dispenser modules.
  • each dispenser module is adapted to a specific kind of balancing weight. It may be adapted to a specific mass, a specific size, or to a clip-on balancing weight or a self-adhesive balancing weight.
  • Each dispenser module has at least a cartridge for holding a plurality of balancing weights, an actuator for moving the cartridge, and a slider for moving a balancing weight from the cartridge to the picking tray, where the balancing weight may be picked up by a handling device. Such a handling device will then attach the picked balancing weight to a wheel.
  • Each cartridge has at least one compartment, preferably two compartments. Each compartment has a refill opening at its top, and a retrieval opening at its bottom. Within the cartridge, there is preferably a plurality of guides for guiding and holding balancing weights within each compartment.
  • An actuator is provided outside of the cartridge to linearly move or displace the cartridge along a first axis.
  • the actuator preferably is an electric, pneumatic, or hydraulic actuator.
  • the actuator may be controlled by an actuator control, which may be an electronic, pneumatic, or hydraulic control unit.
  • the cartridge is moved by the actuator in such a way that one of the retrieval openings of one of the compartments is above a slider feed opening in the dispenser module.
  • a slider which has a balancing weight compartment to precisely hold a balancing weight.
  • Each slider is connected to a slider actuator, which can linearly move the slider along an axis preferably parallel to the first axis of the cartridge.
  • the slider is moved in a position below the slider feed opening. This causes the bottommost balancing weight of a stack of balancing weights held within the compartment above the slider feed opening to drop into the balancing weight compartment.
  • the balancing weight compartment has an outer contour, which fits to the balancing weight to hold and guide the balancing weight, and to allow smooth sliding of the balancing weight through the openings.
  • the balancing weight compartment has such a height, that exactly one balancing weight fits into this compartment. This allows to move the slider back again and to move the balancing weight to the picking tray, where the balancing weight is exposed and may be picked up by a balancing weight handling device. It is further preferred to have a sensor, which may detect at least one of the presence of a balancing weight, the access of a balancing weight handling device to the picking tray to determine, whether a balancing weight is in the picking tray or whether it has been removed by a balancing weight handling device.
  • the slider actuator is activated to move the balancing weight compartment back under the slider feed opening to receive the next balancing weight from the cartridge.
  • This feeding process is a simple linear movement done by the slider and moving the balancing weight from the cartridge to the picking tray. This movement can be done in a very short time and with a comparatively high speed, providing a high delivery rate of balancing weights.
  • each cartridge there may be a different number of compartments in a cartridge. For example, it may be desirable to have a higher number of compartments within a cartridge, specifically, if the balancing weights are comparatively small and if a high number of balancing weights is required.
  • a control unit like the actuator control, which may control the number of balancing weights available within a cartridge or within the individual compartments. This number may be controlled by counting the number of movements of the slider and/or by at least one detector for detecting the number of balancing weights within a cartridge or compartment. Such a detector either may count the number of balancing weights or may indicate the stack height within a compartment. It may be a mechanical switch or sensor, or an optical or magnetic sensor. The sensor in the picking tray may be a similar kind of sensor.
  • the actuator control may also indicate if a refill of the cartridge or a compartment is required. For refilling, it may bring the cartridge into a specific refilling position. In addition, refill may be done during regular operation.
  • Another embodiment of the invention relates to a method for providing or delivering a balancing weight to a picking tray.
  • the method comprises the steps of storing balancing weights within a cartridge; moving the cartridge along a first axis so that a retrieval opening of a compartment of the cartridge is above a slider feed opening of the dispenser module; dropping balancing weights into a balancing weight compartment of a slider, through the slider feed opening; pushing the slider together with the balancing weights to a picking tray.
  • the dispenser provides a high flexibility. There may be any number of dispenser modules combined to a dispenser. In simple cases, it may be sufficient to deliver only one type of balancing weight. Here, a single dispenser module would be sufficient. To increase the capacity, a plurality of dispenser modules delivering the same kind of balancing weights may be used in a dispenser.
  • the storage capacity can be increased, as there is provided a higher number of cartridges for storing balancing weights.
  • a higher number of dispenser modules can increase the delivery rate of balancing weights to the picking tray. For example, if there are three identical dispenser modules, there is three-times the storage capacity for balancing weights available. Furthermore, there is a triple delivery rate from the cartridges to the picking tray.
  • a balancing weight handling device When a balancing weight handling device picks up the first balancing weight, this will be reloaded by the dispenser. During the reloading time, the handling device may still pick the second and third balancing weights of the other dispenser modules. After this has been done, the first dispenser module may have finished reloading.
  • a dispenser Due to the small size of the individual dispenser modules, a dispenser generally can be built significantly smaller than dispensers known from the prior art. Furthermore, multiple dispenser modules may be used for the same type of balancing weights, as mentioned above, without significantly increasing the size of the dispenser. As the dispenser is a comparatively handy and compact unit, it can easily be exchanged in one piece. This may be of benefit for maintenance or for changing to a different kind of balancing weights required for different kind of wheels. Due to the high modularity, even single dispenser modules may individually be exchanged, which may be necessary for maintenance or for adapting to different kinds of balancing weights. Another advantage is the precise positioning or location of the delivered balancing weight at a specific picking position on the picking tray.
  • the balancing weight is held within a slider precisely, and therefore may be positioned with a precision up to 0.1 mm. This allows simplified handling by the balancing weight handling device, and a significantly higher speed in picking up balancing weights.
  • the cartridges allow for easier and quicker loading with balancing weights due to their refill openings at the top of the cartridges.
  • a stack of bundled balancing weights is inserted into a cartridge, which can be done within a few seconds. It is obvious that the embodiments disclosed herein are applicable to a broad variety of balancing weights like balancing weights, which may be held by a clamp, or self-adhesive balancing weights.
  • FIG. 1 a perspective view of a first embodiment is shown.
  • a dispenser has twelve dispenser modules 101-112 arranged in parallel. It is obvious that such a dispenser may have any different number of modules starting from one, to a number as high as desired.
  • Each dispenser has a cartridge 202, 300 which may be removable from the dispenser, and which is actuated by a cartridge actuator 201, and can be moved along a first axis 220.
  • the cartridges are shown in detail in the following figure.
  • a slider 203 is provided for dispensing balancing weights. It has a balancing weight compartment 208, and can be moved by means of a slider actuator 209 along a first axis 221.
  • the balancing weight compartment is loaded with a balancing weight by moving it under a slider feed opening, thus allowing a balancing weight to drop from the cartridge into the balancing weight compartment. After that, the slider is moved back to its starting position to present the balancing weight to the picking tray of the dispenser module, from where the balancing weight may be picked up by a balancing weight handling device.
  • At the picking tray at least one sensor, preferably one sensor for each dispenser module is provided to determine, whether a balancing weight is in the balancing weight compartment. If the compartment is empty, a refill is required, by moving the balancing weight compartment under the slider feed opening 207.
  • the actuators are controlled by actuator control 120.
  • a slider 206 is shown in its loading position, whereas the balancing weight compartment is below its slider feed opening.
  • the leftmost cartridge 205 is shown in a displaced position, whereas its first compartment is above the slider feed opening.
  • the other cartridges are in a position holding their second compartment above their slider feed openings.
  • a cartridge 300 is disclosed in detail.
  • This cartridge has a frame 301 holding and stabilizing its components.
  • Each cartridge has at least two compartments.
  • the cartridge shown herein has a first compartment 310 and a second compartment 320.
  • a cartridge may have any higher number of compartments.
  • Each compartment has a refill opening 302, 303 at its top, and a retrieval opening 304, 305 at its bottom.
  • the openings are preferably adapted to the outer contour of the balancing weights. This can prevent insertion of wrong balancing weights into a compartment.
  • all compartments of a cartridge have the same shape and are designed for the same type of balancing weights.
  • guides 306 are provided for holding and for guiding the balancing weights within a compartment.
  • the balancing weights 400 are stacked within the guides.
  • the form and the distance of the guides are adapted to a specific type of balancing weights.
  • For the operation of the cartridge only the retrieval openings 304, 305 are required.
  • the cartridge may be a one-way cartridge, which is prefilled. In such a case, the refill openings 302, 303 are not required.
  • each individual balancing weight 401 has at least two holes 403, through which a connecting cord 410 is threaded.
  • the term "cord" is to be understood in a broad sense, comprising any one of a braid, wire, or band of suitable material, like metal, natural, or synthetic fibers.
  • On the other side of the stack there are two open ends 411, 412 of the connecting cord, which may be secured by a knot. Preferably, the ends are secured by a seal 413. It is preferred, if the seal and/or the connecting cord has a specific colour, identifying the type or weight of the balancing weights.
  • a stack of balancing weights 400 is handled and secured by the connecting cord. It may be inserted into the compartment of the cartridge. Due to the adapted size of the refill opening, the balancing weights slide smoothly into the compartment. When the balancing weights are seated within the compartment, the connecting cord may be removed. This may be done by either removing the seal 413 and/or cutting through the connecting cord at a location between the seal and the stack of balancing weights. After cutting one side of the connecting cord, the remaining connecting cord may be pulled out of the holes by simply pulling at the open ends or the seal.
  • refilling of a cartridge is a very simple process and may be done within a few seconds.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automatic Assembly (AREA)
  • De-Stacking Of Articles (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Testing Of Balance (AREA)

Claims (9)

  1. Ausgabeeinheit für Auswuchtgewichte für Fahrzeuge, umfassend zumindest ein Ausgabemodul (101 - 112) mit:
    - einer Kassette (202) zum Lagern von Auswuchtgewichten (400), wobei die Kassette zumindest zwei Kammern (310, 320) zum Lagern von Auswuchtgewichten umfasst, wobei jede Kammer eine Abholöffnung (304, 305) umfasst,
    - einer Kassettenbetätigung (201) zum linearen Bewegen der Kassette entlang einer ersten Achse (220), so dass eine Abhol-Zuführöffnung (304, 305) einer Kammer oberhalb einer Läufer-Zuführöffnung (207) in dem Ausgabemodul angeordnet ist,
    - einem Entnahmefach (210), in welches ein Auswuchtgewichte ausgegeben wird, und
    - einem Läufer (203), welcher durch eine Läuferbetätigung (209) entlang einer zweiten Achse (221) parallel zur ersten Achse (220) betrieben wird, wobei der Läufer eine Auswuchtgewichtkammer (208) hat,
    wobei die Auswuchtgewichtkammer (208) durch die Läuferbetätigung in zumindest zwei Positionen bewegbar ist:
    - eine erste Position unter der Läufer-Zuführöffnung (207) in dem Ausgabemodul, so dass ein Auswuchtgewicht von einer Kammer über der Läufer-Zuführöffnung (207) in die Auswuchtgewichtkamme (208) fallen kann, und
    - eine zweite Position in dem Entnahmefach.
  2. Ausgabeeinheit nach Anspruch 1,
    dadurch gekennzeichnet, dass
    die Kassettenbetätigung (201) eine elektrische, pneumatische oder hydraulische Betätigung ist.
  3. Ausgabeeinheit nach irgendeinem der vorhergehenden Ansprüche,
    dadurch gekennzeichnet, dass
    die Läuferbetätigung (209) eine elektrische, pneumatische oder hydraulische Betätigung ist.
  4. Ausgabeeinheit nach irgendeinem der vorhergehenden Ansprüche,
    dadurch gekennzeichnet, dass
    eine Betätigungssteuerung bereitgestellt ist, um die Bewegung der Kassettenbetätigungen (201) und/oder der Läuferbetätigungen (209) zu steuern.
  5. Ausgabeeinheit nach irgendeinem der vorhergehenden Ansprüche,
    dadurch gekennzeichnet, dass
    die Auswuchtgewichtkammer (208) zur Außenkontur der Auswuchtgewichte passt.
  6. Ausgabeeinheit nach irgendeinem der vorhergehenden Ansprüche,
    dadurch gekennzeichnet, dass
    zumindest eine der Nachfüllöffnungen (302, 303) und Abholöffnungen (304, 305) zu der Außenkontur der Auswuchtgewichte passt, um ein weiches Gleiten der Auswuchtgewichte durch die Öffnungen zu ermöglichen.
  7. Ausgabeeinheit nach irgendeinem der vorhergehenden Ansprüche,
    dadurch gekennzeichnet, dass
    eine Vielzahl von Führungen (306) innerhalb der Kammern (310,320) bereitgestellt ist.
  8. Ausgabeeinheit nach irgendeinem der vorhergehenden Ansprüche,
    dadurch gekennzeichnet, dass
    eine Vielzahl von verschiedenen, für verschiedene Größen von Auswuchtgewichten geformten Ausgabemodulen (201, 212) bereitgestellt sind.
  9. Verfahren zur Ausgabe von Auswuchtgewichten in ein Entnahmefach, umfassend die folgenden Schritte:
    - Lagern von Auswuchtgewichten in einer Kassette;
    - Bewegen der Kassette entlang einer ersten Achse, so dass eine Entnahmeöffnung einer Kammer der Kassette über einer Läufer-Zuführöffnung des Ausgabemoduls ist;
    - Fallenlassen von Auswuchtgewichten in eine Auswuchtgewichtkammer des Läufers, durch die Läufer-Zuführöffnung (207);
    - Schieben des Läufers zusammen mit den Auswuchtgewichten zu einem Entnahmefach.
EP13164570.7A 2013-04-19 2013-04-19 Automatischer Spender für Gewichtsausgleich Active EP2792903B1 (de)

Priority Applications (8)

Application Number Priority Date Filing Date Title
EP13164570.7A EP2792903B1 (de) 2013-04-19 2013-04-19 Automatischer Spender für Gewichtsausgleich
ES13164570.7T ES2557777T3 (es) 2013-04-19 2013-04-19 Distribuidor automático para contrapesos
KR1020157032848A KR101612110B1 (ko) 2013-04-19 2014-04-08 평형추용 자동 분배기
BR112015026412A BR112015026412A2 (pt) 2013-04-19 2014-04-08 dispensador automático para pesos de balanceamento
MX2015014675A MX2015014675A (es) 2013-04-19 2014-04-08 Dispensador automático para pesas de balanceo.
CN201480021491.6A CN105143710B (zh) 2013-04-19 2014-04-08 用于平衡重的自动分配器
PCT/EP2014/056988 WO2014170162A1 (en) 2013-04-19 2014-04-08 Automatic dispenser for balancing weights
US14/885,281 US9618080B2 (en) 2013-04-19 2015-10-16 Automatic dispenser for balancing weights

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP13164570.7A EP2792903B1 (de) 2013-04-19 2013-04-19 Automatischer Spender für Gewichtsausgleich

Publications (2)

Publication Number Publication Date
EP2792903A1 EP2792903A1 (de) 2014-10-22
EP2792903B1 true EP2792903B1 (de) 2015-10-14

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP13164570.7A Active EP2792903B1 (de) 2013-04-19 2013-04-19 Automatischer Spender für Gewichtsausgleich

Country Status (8)

Country Link
US (1) US9618080B2 (de)
EP (1) EP2792903B1 (de)
KR (1) KR101612110B1 (de)
CN (1) CN105143710B (de)
BR (1) BR112015026412A2 (de)
ES (1) ES2557777T3 (de)
MX (1) MX2015014675A (de)
WO (1) WO2014170162A1 (de)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA159882S (en) * 2014-06-06 2015-10-05 Wegmann Automotive Gmbh & Co Kg Dispenser for balancing weights
US10223171B2 (en) * 2016-03-25 2019-03-05 Intel Corporation Mitigating load imbalances through hierarchical performance balancing
EP3312449B8 (de) * 2016-10-24 2019-05-22 WEGMANN automotive GmbH Automatische ausgabevorrichtung für auswuchtgewichte

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Publication number Priority date Publication date Assignee Title
CH554277A (de) * 1972-03-13 1974-09-30 Irmler Felix Vorrichtung zur lagerung von in kolli verpackten guetern mit einem hochlager.
CA1039245A (en) * 1975-05-14 1978-09-26 Leonard P. Falk Article vendor with elevator
DE2745858A1 (de) * 1977-10-12 1979-04-19 Artur Hethey Kastenmagazin fuer automatische werkstueckzufuehrung
DE8313868U1 (de) * 1983-05-10 1986-12-04 Siemens Ag, 1000 Berlin Und 8000 Muenchen, De
US4903398A (en) 1987-02-24 1990-02-27 Mazda Motor Corporation Balance weight fitting apparatus
FR2729376B1 (fr) * 1995-01-16 1997-04-11 Nijal Dispositif distributeur de barquettes
US6364421B1 (en) 1998-12-09 2002-04-02 Perfect Equipment Company Llc Wheel balancing weights
CA2467739A1 (en) * 2001-11-23 2003-09-04 Munroe Chirnomas Machine and methods for vending articles
CN100587294C (zh) 2003-04-11 2010-02-03 弗兰肯工业有限商业两合公司 带有凹入或者凸出弯曲的接触面的汽车车轮平衡重及其制造方法
ITMO20030320A1 (it) * 2003-11-25 2005-05-26 Sicam S R L Societa Unipersonale Dispositivo per macchine equilibratrici per l'applicazione
ES2277802B2 (es) * 2007-03-16 2008-04-16 Jofemar S.A. Sistema extractor unitario de productos para maquinas expendedoras.
WO2013034399A1 (de) * 2011-09-05 2013-03-14 Wegmann Automotive Gmbh & Co. Kg Ausgabevorrichtung für auswuchtgewichte sowie verfahren zur ausgabe von auswuchtgewichten
DE102011054579A1 (de) * 2011-10-18 2013-04-18 Krauss-Maffei Wegmann Gmbh & Co. Kg Kassette zur Aufnahme von Auswuchtgewichten und Vorrichtung zur Bereitstellung von Auswuchtgewichten

Also Published As

Publication number Publication date
EP2792903A1 (de) 2014-10-22
KR101612110B1 (ko) 2016-04-12
WO2014170162A1 (en) 2014-10-23
ES2557777T3 (es) 2016-01-28
MX2015014675A (es) 2016-07-18
CN105143710A (zh) 2015-12-09
BR112015026412A2 (pt) 2017-07-25
US9618080B2 (en) 2017-04-11
US20160047437A1 (en) 2016-02-18
KR20150140844A (ko) 2015-12-16
CN105143710B (zh) 2016-09-07

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